ResearchBenchmarksState Estimation on Simulated Target Tracking Sequence piecewise-constant measurement noiseState Estimation on Simulated Target Tracking Sequence piecewise-constant measurement noiseFollow0.232RMSEIdeal KF0.219840.301920.3840.46608Jul 1, 2026Evaluation resultsMethodMethodLinksRMSERMSE (dB)Improvement (%)Ideal KFutilization=ground tru...utilization=ground truth covariance2026.070.23212.9156.8SWHVKFWindow length (L)=5Window length (L)=52026.070.257-11.9552.15HOHVKFgamma=0.4925gamma=0.49252026.070.26-11.8551.47VBKF2026.070.27611.3448.6HVKF2026.070.276-11.3348.51MMAP2026.070.3499.334.85KF2026.070.5365.48—